KR101198917B1 - 듀얼 소스 엑스선 영상장치를 이용한 마이크로로봇 위치제어 시스템 및 그 방법 - Google Patents

듀얼 소스 엑스선 영상장치를 이용한 마이크로로봇 위치제어 시스템 및 그 방법 Download PDF

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Publication number
KR101198917B1
KR101198917B1 KR1020110087839A KR20110087839A KR101198917B1 KR 101198917 B1 KR101198917 B1 KR 101198917B1 KR 1020110087839 A KR1020110087839 A KR 1020110087839A KR 20110087839 A KR20110087839 A KR 20110087839A KR 101198917 B1 KR101198917 B1 KR 101198917B1
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KR
South Korea
Prior art keywords
microrobot
image
unit
driving
dual source
Prior art date
Application number
KR1020110087839A
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English (en)
Korean (ko)
Inventor
박석호
박종오
정명호
심두선
차경래
김석민
정세미
최현철
Original Assignee
전남대학교산학협력단
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Publication date
Application filed by 전남대학교산학협력단 filed Critical 전남대학교산학협력단
Priority to KR1020110087839A priority Critical patent/KR101198917B1/ko
Priority to EP12828898.2A priority patent/EP2750621B1/fr
Priority to PCT/KR2012/006706 priority patent/WO2013032172A1/fr
Application granted granted Critical
Publication of KR101198917B1 publication Critical patent/KR101198917B1/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A61B6/035—Mechanical aspects of CT
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/40—Arrangements for generating radiation specially adapted for radiation diagnosis
    • A61B6/4007—Arrangements for generating radiation specially adapted for radiation diagnosis characterised by using a plurality of source units
    • A61B6/4014—Arrangements for generating radiation specially adapted for radiation diagnosis characterised by using a plurality of source units arranged in multiple source-detector units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Pulmonology (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
KR1020110087839A 2011-08-31 2011-08-31 듀얼 소스 엑스선 영상장치를 이용한 마이크로로봇 위치제어 시스템 및 그 방법 KR101198917B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020110087839A KR101198917B1 (ko) 2011-08-31 2011-08-31 듀얼 소스 엑스선 영상장치를 이용한 마이크로로봇 위치제어 시스템 및 그 방법
EP12828898.2A EP2750621B1 (fr) 2011-08-31 2012-08-23 Système de commande de mouvement de micro-robot utilisant un équipement de tomodensitométrie double source
PCT/KR2012/006706 WO2013032172A1 (fr) 2011-08-31 2012-08-23 Système de commande de mouvement de micro-robot utilisant un équipement de tomodensitométrie double source et procédé pour celui-ci

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020110087839A KR101198917B1 (ko) 2011-08-31 2011-08-31 듀얼 소스 엑스선 영상장치를 이용한 마이크로로봇 위치제어 시스템 및 그 방법

Publications (1)

Publication Number Publication Date
KR101198917B1 true KR101198917B1 (ko) 2012-11-07

Family

ID=47564199

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020110087839A KR101198917B1 (ko) 2011-08-31 2011-08-31 듀얼 소스 엑스선 영상장치를 이용한 마이크로로봇 위치제어 시스템 및 그 방법

Country Status (3)

Country Link
EP (1) EP2750621B1 (fr)
KR (1) KR101198917B1 (fr)
WO (1) WO2013032172A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101349984B1 (ko) * 2012-12-28 2014-01-16 재단법인대구경북과학기술원 마이크로 로봇 제어장치
US10478091B2 (en) 2015-03-17 2019-11-19 Electronics And Telecommunications Research Institute Method and device for detecting position of micro robot using ultra wide-band impulse radar signal
KR20200101161A (ko) 2019-02-19 2020-08-27 전남대학교산학협력단 자기유도 무선충전의 전력효율을 활용한 캡슐 내시경의 위치인식 시스템

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CZ306843B6 (cs) 2013-08-05 2017-08-09 Ăšstav teoretickĂ© a aplikovanĂ© mechaniky AV ÄŚR, v.v.i. Víceosé zařízení pro provádění rentgenových měření, zejména počítačové tomografie
CN114288567B (zh) * 2022-01-05 2022-08-30 北京邮电大学 一种可对生物体表及下方组织进行物理作用的机器人系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005032370A1 (de) * 2005-07-08 2007-01-11 Siemens Ag Verfahren zur Bestimmung der Position und Orientierung einer unter Verwendung eines mittels Navigationseinrichtung erzeugten Navigationsmagnetfelds durch ein Untersuchungsobjekt geführten
DE102007043729A1 (de) * 2007-09-13 2009-04-02 Siemens Ag Medizinisches System
KR101003132B1 (ko) * 2008-10-27 2010-12-21 전남대학교산학협력단 마이크로 로봇 제어를 위한 코일 시스템 구조 및 이를 이용한 2차원 평면 전자기 구동 시스템
KR101048291B1 (ko) * 2009-02-19 2011-07-13 한국전기연구원 위상대조 기반 ｘ선 듀얼 영상수집 장치 및 그 방법
KR101084720B1 (ko) * 2009-03-18 2011-11-22 전남대학교산학협력단 3차원 입체 전자기 구동장치
KR101096532B1 (ko) * 2009-06-29 2011-12-20 전남대학교산학협력단 3차원 전자기 구동장치

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101349984B1 (ko) * 2012-12-28 2014-01-16 재단법인대구경북과학기술원 마이크로 로봇 제어장치
US10478091B2 (en) 2015-03-17 2019-11-19 Electronics And Telecommunications Research Institute Method and device for detecting position of micro robot using ultra wide-band impulse radar signal
KR20200101161A (ko) 2019-02-19 2020-08-27 전남대학교산학협력단 자기유도 무선충전의 전력효율을 활용한 캡슐 내시경의 위치인식 시스템

Also Published As

Publication number Publication date
EP2750621B1 (fr) 2017-06-28
EP2750621A1 (fr) 2014-07-09
WO2013032172A1 (fr) 2013-03-07
EP2750621A4 (fr) 2015-04-01

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